Patent Grant
9109346
The present invention relates to a power controller of a hydraulic pump for a swing motion of a work machine.
In a work machine, such as a hydraulic excavator, an oil-hydraulic motor can swing a revolving upper-structure on a base carrier. Since a work machine has a high moment of inertia, the hydraulic pressure in an oil-hydraulic circuit becomes extremely high and causes the relief losses of hydraulic oil while the oil-hydraulic motor is starting and accelerating. A variety of techniques have been proposed for reducing such relief losses.
For example, Patent Literature 1 discloses a technique which decreases the discharge flow rate of a hydraulic pump to reduce relief losses during operation of a swing motor. This technique involves detection of a pilot pressure from a pilot valve linked to a swing lever, detection of a hydraulic pressure over the circuit between a flow rate control valve and the swing motor, and control of a swash plate angle of a hydraulic pump based on these values. Such a configuration can reduce relief losses, and prevent the degradation of the swing motor caused by heat generation and high temperature.
[PTL 1]
The technique described in Patent Literature 1 involves control of the swash plate of the hydraulic pump such that a flow rate Qn+q for a flow demand Qn is discharged from the hydraulic pump, where the flow rate Qn+q is obtained by adding a relief flow rate q required for the motion of the swing motor to the flow demand Qn at a swing rate while a swing motor is starting and accelerating. Since the swing rate of the machine body generally fluctuates widely depending on the machine body postures, it is difficult to calculate the flow demand Qn from the pilot pressure of the swing lever and a relief pressure.
The fluctuation of the swing rate after swing motion is started is shown by solid lines M1, M2 in
In particular, in the technique described in Patent Literature 1, since the relief pressure is reflected to control of the discharge flow rate only after the hydraulic oil is relieved from the relief valve, the delay of the control is too large to control the actual relief flow rate to q. An object of the present invention, which has been accomplished in view of such a problem is to provide a hydraulic swing-controlling apparatus of a work machine, which exhibits improved control responsiveness in hydraulic control for reducing the relief losses during the acceleration of the swing motion.
In order to accomplish the object, a hydraulic swing-controlling apparatus of a work machine of the present invention according to the first aspect includes a hydraulic pump installed in the work machine; a swing motor which receives supply of hydraulic oil from the hydraulic pump and swings the work machine; a swing relief valve which defines the upper limit of a pressure of the hydraulic oil in an oil-hydraulic circuit connecting between the hydraulic pump and the swing motor during operation of the swing motor; hydraulic pressure detecting means which detects a hydraulic pressure supplied from the hydraulic pump to the swing motor; swing operation amount detecting means which detects the amount of the swing operation related to a swing motion of the swing motor; required flow rate setting means which sets a required flow rate of the hydraulic oil required for the swing motor based on the amount of the swing operation detected by the swing operation amount detecting means; relief volume estimating means which estimates the volume of relief of the hydraulic oil relieved from the swing relief valve based on the hydraulic pressure detected by the hydraulic pressure detecting means; pump flow rate subtracting means which calculates an appropriate flow rate by subtracting the volume of relief estimated by the relief volume estimating means from the required flow rate set by the required flow rate setting means; and discharge flow rate controlling means which controls the discharge flow rate of the hydraulic pump based on the appropriate flow rate calculated by the pump flow rate subtracting means, wherein the relief volume estimating means estimates the volume of relief based on the hydraulic pressure and the override characteristics of the swing relief valve.
Note that the volume of relief may take not only a positive value but also a negative value. In other words, the relief pressure is estimated in a positive range in a state where a hydraulic pressure in the oil-hydraulic circuit extending from the hydraulic pump to the swing motor exceeds a relief pressure, and is estimated in a negative range in a state where a hydraulic pressure in the oil-hydraulic circuit extending from the hydraulic pump to the swing motor does not exceed the relief pressure.
Therefore if the relief pressure is positive, the appropriate flow rate will be smaller than the required flow rate. And if the relief pressure is negative, a negative value will be subtracted from the required flow rate so that the appropriate flow rate will be larger than the required flow rate.
Additionally, the override characteristics refers to the correspondence relation between the volume of relief and the primary pressure in a phenomenon in which the hydraulic pressure at the primary side (primary pressure) exceeds the relief pressure and still increases with an increase in the volume of relief.
For example, the swing relief valve is completely closed at a primary pressure less than the relief pressure, and is opened at a primary pressure equal to or higher than the relief pressure. A function required for the swing relief valve is control of the volume of relief such that the primary pressure does not exceed the relief pressure. The actual primary pressure, however, increases slightly with an increase in the volume of relief. In general, a predetermined functional relation is found between the primary pressure and the volume of relief in a range beyond the relief pressure. In the present invention, the volume of relief is estimated such a functional relation.
Additionally, in the hydraulic swing-controlling apparatus of a work machine of the present invention according to the second aspect, along with the configuration of the first aspect, the relief volume estimating means estimates the volume of relief as a positive value if the hydraulic pressure is higher than the relief pressure of the swing relief valve, and estimates the volume of relief as a negative value if the hydraulic pressure is lower than the relief pressure of the swing relief valve.
Additionally, in the hydraulic swing-controlling apparatus of a work machine of the present invention according to the third aspect, along with the configuration of the first or second aspect, the required flow rate setting means sets the required flow rate as a function of elapsed time from the detection of the amount of the swing operation by the swing operation amount detecting means, and sets the maximum value of the required flow rate which increases as the amount of the swing operation increases.
According to the hydraulic swing-controlling apparatus of a work machine of the present invention the first aspect, the volume of relief during the swing operation can be held uniformly by controlling the discharge flow rate of the hydraulic pump based on a value which is obtained by subtracting the volume of hydraulic oil to be relieved from the required flow rate set based on the amount of the swing operation. This can reduce the relief losses at the beginning of the swing motion and enhances the energy efficiency, for example.
According to the hydraulic swing-controlling apparatus of a work machine of the present invention the second aspect, the volume of relief is estimated to be a negative value if the hydraulic pressure is lower than the relief pressure, hence, the appropriate flow rate can be increased to be more than the required flow rate. Accordingly, the supply of hydraulic oil may be increased within a range where the volume of relief is kept to the minimum in the state of a machine body posture with a high swing rate. The supply of hydraulic oil can be decreased so as to decrease the volume of relief to the minimum in the state of the machine body posture with low swing rate. The most appropriate swing flow rate can be held regardless of the machine body postures and the energy efficiency can be improved.
Additionally, according to the hydraulic swing-controlling apparatus of a work machine of the present invention the third aspect, the swing rate can be easily controlled uniformly by setting the required flow rate as a function of the elapsed time from the start of the swing operation.
An embodiment of the present invention will be described below with reference to the drawings.
[1. Circuit Configuration]
[1-1. Swing Oil-Hydraulic Circuit L1]
The present invention is applied to an oil-hydraulic circuit of a hydraulic excavator shown in
This oil-hydraulic circuit includes a swing oil-hydraulic circuit L1 which supplies hydraulic oil to a swing motor 2, a negative control circuit L2, and an operation pilot circuit L3 of the swing motor 2.
A hydraulic pump 1, a swing motor 2, and a control valve 12 are disposed on the swing oil-hydraulic circuit L1. The hydraulic pump 1 is a variable capacity pump including a regulator 1a. This hydraulic pump 1 is driven by an engine 11 which is the main driving source of a hydraulic excavator, and sucks in the hydraulic oil stored in a hydraulic oil tank 15 to discharge it toward the swing motor 2. The regulator 1a is a device for controlling the swash plate angle of the hydraulic pump 1 to change the discharge flow rate adequately.
This swing motor 2 is an oil-hydraulic motor for swing the hydraulic excavator. The swing motor 2 includes two hydraulic oil ports 2a, 2b, and is configured to change the turning direction to the forward or reverse direction depending on the flow direction of the supplied hydraulic oil. Note that the turning direction of the swing motor 2 corresponds to the swing direction of the hydraulic excavator.
The control valve 12 is a solenoid flow rate controlling valve which variably controls the flow rate and the flow direction of hydraulic oil by changing the position of a flow rate control spool (stem) between several positions. The positions of the flow rate control spool include a position for supplying the hydraulic oil discharged from the hydraulic pump 1 to the first hydraulic oil port 2a of the swing motor 2, a position for supplying the hydraulic oil to the second hydraulic oil port 2b of the swing motor 2, and a position for blocking both the hydraulic oil ports 2a, 2b. Hereinafter, a flow path connecting the control valve 12 and the first hydraulic oil port 2a is referred to as a first supply path L4, and a flow path connecting the control valve 12 and the second hydraulic oil port 2b is called as a second supply path L5.
Two flow paths connected to a hydraulic oil tank 15 branch off from the first supply path L4 and second supply path L5. Swing relief valves 3a and 3b are disposed in one of the two flow paths, and vacuum regulator valves 14a, 14b are disposed in the other of the two flow paths.
The swing relief valves 3a and 3b each defines the upper limit pressure P0 (relief pressure) of the hydraulic oil which flows in from the first supply path L4 and second supply path L5, and open a valving element to discharge hydraulic oil to the hydraulic oil tank 15 if the hydraulic pressure equal to or higher than the upper limit pressure P0 works. The swing relief valves 3a and 3b have the override characteristics shown in
The override characteristics refers to the correspondence relation between the volume of relief and the primary pressure in a phenomenon in which the hydraulic pressure at the primary side (primary pressure, the hydraulic pressure at the side of the swing motor 2 from the swing relief valves 3a and 3b) exceeds the upper limit pressure P0 and still increases with an increase in the volume of relief.
For example, the swing relief valves 3a and 3b close the valving element completely to make the relief flow rate zero at a primary pressure less than the relief pressure P0, and open the valving element at a primary pressure in the range equal to or higher than the relief pressure P0. In general, a function required for the swing relief valves 3a and 3b is control of the volume of relief when the valving element opens such that the primary pressure does not exceed the relief pressure P0. The actual primary pressure, however, increases slightly with an increase in the volume of relief. In general, a predetermined functional relation is found between the primary pressure and the volume of relief in a range beyond the relief pressure P0. In the present invention, the volume of relief is estimated from such a functional relation.
The vacuum regulator valves 14a, 14b prevent the generation of the vacuum while the swing motor 2 is decelerating and braking, and work so as to refill the circuit at the hydraulic oil discharging side of the swing motor 2 with the hydraulic oil from the hydraulic oil tank 15 if the pressure of the circuit decreases. A pressure sensor 5 (hydraulic pressure detecting unit) is disposed on the swing oil-hydraulic circuit L1 between the hydraulic pump 1 and control valve 12. This pressure sensor 5 detects the hydraulic pressure P2 of the swing oil-hydraulic circuit L1. The hydraulic pressure P2 detected by the pressure sensor 5 is input to a controller 10 which will be described later.
[1-2. Negative Control Circuit L2]
A main relief valve 13 is disposed on the center bypass of the swing oil-hydraulic circuit L1. The main relief valve 13 is provided to take out the hydraulic pressure of the center bypass as a so-called negative control pressure. The negative control circuit L2 described above branches from the center bypass upstream of the main relief valve 13, and is connected to a shuttle valve 18.
The shuttle valve 18 is a selective valve which selects a higher pressure, and includes two input ports 18a, 18b. This shuttle valve 18 selectively outputs a higher hydraulic pressure of the hydraulic pressures from two systems. The output port of the shuttle valve 18 is connected to the regulator 1a.
One input port 18a of the shuttle valve 18 is connected to the negative control circuit L2 described above. Namely, a general negative control pressure is introduced into this input port 18a. The other input port 18b is connected to a solenoid proportional pressure-reducing valve 17.
The solenoid proportional pressure-reducing valve 17 is a proportional pressure-reducing valve controlled by the controller 10 which will be described later, and coercively changes the negative control pressure by introducing the hydraulic oil supplied from a pilot pump 16 to the other input port 18a. Note that this solenoid proportional pressure-reducing valve 17 raises the secondary pressure (hydraulic pressure at the downstream side) as the opening of the valving element increases.
[1-3. Operation Pilot Circuit L3]
The operation pilot circuit L3 is a pilot circuit connecting the both ends of the flow rate control spool of the control valve 12 and a remote control valve 19. In the remote control valve 19, a swing pilot pressure (so-called remote control pressure) corresponding to an operation amount input into the swing lever (not shown) is generated, and the swing pilot pressure is introduced into either end of the flow rate control spool depending on the operation direction.
The remote control valve 19 includes a shuttle valve 20 for detecting the swing pilot pressure and a swing operation pressure sensor 4 (swing operation amount detecting unit) therein. The shuttle valve 20 is a high pressure selective valve which selects higher one of the swing pilot pressures introduced into both ends of the flow rate control spool.
The swing operation pressure sensor 4 detects the swing pilot pressure P1 (amount of the swing operation) selected by the shuttle valve 20. This allows the swing operation pressure sensor 4 to detect the swing pilot pressure P1 corresponding to the amount of the operation of the swing lever regardless of its operation direction. The swing pilot pressure P1 detected here is input to the controller 10.
[2. Control Configuration]
The controller 10 is an electronic control device including a microcomputer, and is provided as an LSI device into which well-known microprocessors, ROMs, RAMs and the like are integrated.
The controller 10 is connected to the swing operation pressure sensor 4 and pressure sensor 5 which is described above, and controls the opening of the solenoid proportional pressure-reducing valve 17 based on input information from the sensors 4, 5 as shown in
The required flow rate setting unit 6 sets the required flow rate FR of the hydraulic oil required for the swing motor 2 based on the swing pilot pressure P1 detected by the swing operation pressure sensor 4. The required flow rate setting unit 6 includes a timepiece 21 and a flow rate setter 22, which set the required flow rate FR as a function of the elapsed time T from the start of the swing operation. After detecting an increased swing pilot pressure P1, the timepiece 21 starts timing by a timer, and outputs the elapsed time T. The flow rate setter 22 then sets the required flow rate FR depending on the elapsed time T based on the correlation map of the elapsed time T and the required flow rate FR shown in
In the correlation map of the flow rate setter 22, the increment ΔFR of the required flow rate FR is set to the fixed predetermined value a1 (i.e. a1=FR1/T1) when the elapsed time T is 0≦T≦T1. The increment ΔFR of the required flow rate FR is zero when the elapsed time T is T1<T.
Note that the time T1 is set to be equal to the time required for the swing rate to increase to the maximum when the front work equipment of the hydraulic excavator has the maximum reach posture.
The relief volume estimating unit 7 estimates the volume of relief FE of the hydraulic oil relieved from the swing relief valves 3a and 3b based on the hydraulic pressure P2 of the swing oil-hydraulic circuit L1 detected by the pressure sensor 5. The relief volume estimating unit 7 includes an estimated relief volume setter 23, a minimum relief volume setter 24, and subtracter 25.
The estimated relief volume setter 23 stores a map defining the correspondence relation between the hydraulic pressure P2 and the estimated volume of relief F shown in
In this map, the estimated volume of relief F is set to F=0 when the hydraulic pressure P2 is equal to a relief pressure P0 of the swing relief valves 3a and 3b. The estimated volume of relief F takes a negative value when the hydraulic pressure P2 is less than the relief pressure P0 (P2<P0). At this time, it is set that the absolute value of the estimated volume of relief F increases as the hydraulic pressure P2 decreases.
Alternatively, the estimated volume of the relief F takes a positive value when the hydraulic pressure P2 exceeds the relief pressure P0 (P2>P0). At this time, the estimated volume of relief F is a value reflecting the override characteristics of the swing relief valves 3a and 3b. For example, if the relief flow rates are respectively FA, FB, and FC at the primary pressures PA, PA, and PC from the override characteristics of the swing relief valves 3a and 3b shown in
The minimum relief volume setter 24 sets the minimum volume of relief desired to be relieved from the swing relief valves 3a and 3b while the swing motor 2 is starting and accelerating. The ensured minimum volume of relief FMIN set here is always fixed regardless of the swing rate and the elapsed time T from the start of the swing operation.
The subtracter 25 calculates the volume of relief FE by subtracting the ensured minimum volume of relief FMIN set by the minimum relief volume setter 24 from the estimated volume of relief F set by the estimated relief volume setter 23. The volume of relief FE calculated here is input into the pump flow rate subtracting unit 8.
The pump flow rate subtracting unit 8 calculates an appropriate flow rate FD by subtracting the volume of relief FE estimated by the relief volume estimating unit 7 from the required flow rate FR set by the required flow rate setting unit 6. The appropriate flow rate FD can be expressed by the following formula. The appropriate flow rate FD calculated here is input into the discharge flow rate controlling unit 9. Note that the actual discharge flow rate discharged from the hydraulic pump 1 is controlled using this appropriate flow rate FD as a target value.
The discharge flow rate controlling unit 9 controls the discharge flow rate of the hydraulic pump 1 based on an appropriate flow rate FD calculated by the pump flow rate subtracting unit 8. The discharge flow rate controlling unit 9 controls the solenoid proportional pressure-reducing valve 17 by opening and closing its valve so as to generate a negative control pressure required for discharging the appropriate flow rate FD from the hydraulic pump 1.
For example, since the hydraulic oil discharged from the oil-hydraulic motor 1 is introduced into the first supply path L4 or the second supply path L5 from the control valve 12 while the swing motor 2 is operating, the hydraulic pressure (negative control pressure) of the center bypass decreases, accordingly the regulator 1a is controlled so as to increase the discharge flow rate from the hydraulic pump 1 according to the decreased hydraulic pressure. On the other hand, the controller 10 coercively increases the negative control pressure by introducing the hydraulic oil with a higher pressure than the negative control pressure introduced to the shuttle valve 18 from the negative control circuit L2 to the shuttle valve 18, and corrects the discharge flow rate from the hydraulic pump 1 to decrease.
[3. Operation]
When the swing lever of the hydraulic excavator is operated, the swing pilot pressure P1 is detected by the swing operation pressure sensor 4, and is input to the controller 10. The swing pilot pressure P1 is transferred to the control valve 12 through the swing pilot circuit L3, and drives the flow rate control spool. This drives the swing motor 2, and the hydraulic excavator starts the swing operation. The hydraulic pressure P2 over the swing oil-hydraulic circuit L1 is detected by the pressure sensor 5, and is input to the controller 10.
The required flow rate setting unit 6 of the controller 10 measures the elapsed time T after the increased swing pilot pressure P1 is detected, and sets the required flow rate FR as a function of the elapsed time T.
[3-1. In the Case of Front Work Equipment Having a Standard Reach Posture]
In the case of front work equipment having a standard reach posture, the hydraulic excavator swings at a swing rate shown by the solid line M3 in
If the hydraulic pressure P2 of the swing oil-hydraulic circuit L1 is higher than the relief pressure P0 of the swing relief valves 3a and 3b, energy is lost corresponding to the relieved hydraulic oil. While the estimated relief volume setter 23 exactly estimates the volume of the hydraulic oil which may be relieved by setting the estimated volume of relief F based on the override characteristics of the swing relief valves 3a and 3b. The pump flow rate subtracting unit 8 subtracts the volume of the hydraulic oil which may be relieved from the required flow rate FR to calculate the flow rate which is not relieved. Since the appropriate flow rate FD includes the ensured minimum volume of relief FMIN, the actual volume of the hydraulic oil discharged from the hydraulic pump 1 is a value obtained by adding the ensured minimum volume of relief FMIN to the flow rate required for the swing operation (solid line M3) as shown by a dashed line M3 in
[3-2. In the Case of Front Work Equipment Having the Maximum Reach Posture]
In the case of front work equipment having the maximum reach posture, the hydraulic excavator swings at a swing rate shown by the solid line M1 in
The pump flow rate subtracting unit 8 calculates the relief flow rate FE, which is obtained by adding the ensured minimum volume of relief FMIN to the flow rate estimated not to be relieved from the override characteristics of the swing relief valves 3a and 3b, as in the standard reach posture. Accordingly, the discharge flow rate of the hydraulic pump 1 is a value obtained by adding the ensured minimum volume of relief FMIN to the flow rate required for the swing operation (solid line M1) as shown by a dashed line M1′ in
[3-3. In the Case of Front Work Equipment Having the Minimum Reach Posture]
In the case of front work equipment having the minimum reach posture the hydraulic excavator swings at a swing rate shown by the solid line M2 in
The pump flow rate subtracting unit 8 calculates the relief flow rate FE as in the standard reach posture. Since the estimated volume of relief F set by the estimated relief volume setter 23 takes a negative value when the hydraulic pressure P2 is less than the relief pressure P0, the actual volume of the hydraulic oil including the ensured minimum volume of relief FMIN discharged from the hydraulic pump 1 is corrected to increase, in this case. Accordingly, the discharge flow rate from the hydraulic pump 1 is a value obtained by adding the ensured minimum volume of relief FMIN to the flow rate required for the swing operation (solid line M2) as shown by a dashed line M2′ in
[4. Advantageous Effect]
As described above, according to the hydraulic swing-controlling apparatus, the volume of relief during the swing operation can be held at a fixed ensured minimum volume of relief FMIN, and the relief losses caused while the swing operation is starting and accelerating can be reduced, and the energy efficiency can be improved.
During the swing operation and relevant operation of the front work equipment, the hydraulic pressure P2 of the swing oil-hydraulic circuit L1 decreases and the estimated volume of relief F decreases; hence, the ensured minimum volume of relief FMIN is held. Namely, the discharge flow rate of the hydraulic pump 1 can be corrected automatically for the fluctuation of the flow rate caused by the swing operation with other actuators working, and the most appropriate energy efficiency can be achieved.
In addition, according to the hydraulic swing-controlling apparatus, the volume of relief can be exactly estimated before the actual hydraulic oil is relieved using the override characteristics of swing relief valves 3a and 3b. Namely, there is no need to measure the actual relief flow rate, and the discharge flow rate of the hydraulic pump 1 can be controlled without waiting for relief by a control delay and a control error, and the response of control can be improved.
In the correction calculation of the discharge flow rate of the hydraulic pump 1 in the controller 10, the hydraulic swing-controlling apparatus can not only estimate the volume of relief from the swing relief valves 3a and 3b, but also increase the appropriate flow rate FE more than the required flow rate FR because the volume of relief is estimated as a negative value if the hydraulic pressure P2 is less than the relief pressure P0.
Accordingly, the discharge flow rate of the hydraulic pump 1 can be increased within a range where the volume of relief is kept to the minimum FE in the state of a posture with a low moment of inertia (posture with a high swing rate). Additionally, the discharge flow rate of the hydraulic pump 1 can be decreased so as to reduce the volume of relief to the minimum FE in the state of a posture with a high moment of inertia (posture with a low swing rate).
Accordingly, the most appropriate discharge flow rate of the hydraulic pump 1 can be ensured regardless of the machine body postures, and the energy efficiency can be improved. Since the required flow rate FR is set as a function of the elapsed time T from the start of the swing operation in the hydraulic swing-controlling apparatus, the swing rate can be easily controlled uniformly.
[5. Others]
While the embodiment of the present invention has been described, the present invention is not limited to the embodiment described above, and many variations can be made without departing the scope of the present invention. For example, in the embodiment described above, the hydraulic excavator, which includes the hydraulic swing lever driving the flow rate control spool of the control valve 12 by the swing pilot pressure P1 generated by the remote control valve 19 is illustrated. Alternatively a hydraulic excavator including an electrical swing lever can be used. In this case, the timepiece 21 can start timing by the timer after the input signal from lever is detected.
A configuration in which the maximum value of the required flow rate FR is changed according to the amount of operation of the swing lever can be incorporated into the flow rate setter 22. For example, a possible measure is to set a value of the required flow rate FR1 set by the flow rate setter 22 as function of the swing pilot pressure P1. With such a setting, the swing rate can be flexibly adjusted while the most appropriate swing flow rate is kept regardless of the machine body postures.
The ensured minimum volume of relief FMIN set by the minimum relief volume setter 24 can be set to any value. Accordingly, the relief losses can be reduced to an ultimate value by reducing the ensured minimum volume of relief FMIN as much as possible.
The present invention is available to the overall manufacturing industry of work machines such as hydraulic excavators and hydraulic cranes equipped with swing motors.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2009-268702 | Nov 2009 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP2010/063931 | 8/18/2010 | WO | 00 | 2/13/2012 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2011/065073 | 6/3/2011 | WO | A |
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| Number | Date | Country | |
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| 20120131913 A1 | May 2012 | US |
